Fastening device, fastening device system and method for feeding fasteners

ABSTRACT

A fastening device for feeding fasteners to a workpiece and for joining it, the fastening device comprising a fastening tool, a fastening device system. The fastening device including a magazine mounted on the fastening tool for holding a fastener. The magazine includes an isolation module located an outlet of the magazine and including a drawer with a recess and an exit port. The drawer is operable to move between a first position, wherein the recess is aligned with the outlet of the magazine, and a second position, wherein the recess is aligned with the exit port.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.17/313,426, filed May 6, 2021, which claims priority from EuropeanPatent Application No. 20173309.4, filed May 6, 2020, the disclosure ofwhich is incorporated herein by reference in its entirety.

BACKGROUND OF THE INVENTION

The present invention concerns a fastening device, a fastening devicesystem and a method for feeding fasteners to a fastening tool that canbe moved by means of a programmable handling device and on which ismounted a magazine for accommodating at least one fastener.

In the field of fastening technology, it is known to make joints usingfasteners. These methods include, for example, the fastening offasteners to workpieces, wherein the fasteners in this case areoftentimes used as anchors for further attachment. Such fasteningmethods are known in the form of stud welding, adhesive stud bonding,and thermoplastic stud fastening. In these methods, the studs may berotationally symmetric fasteners, but may also be irregularly shapedanchors.

In addition, it is known to join at least two workpieces to one anotherby means of fasteners. Such methods include, e.g., riveting methods, forinstance the self-piercing riveting method.

Especially in the field of automotive engineering, such fasteningmethods have been well-established for some years, particularly in bodymanufacture.

In high-volume production it is preferred to move the fastening tools bymeans of a programmable handling device, such as a robot. In this caseit is likewise preferred for the fasteners to be fed to a fastening toolattached to a robot arm. To this end, it is known to connect thefastening tool to a feed device by a feed hose. For instance, WO00/07751 discloses fasteners which are pre-loaded in a package anddispense via at least one fastener delivery tube that interconnects thesetting tool to a fastener feeder device.

It is also known to connect the feed device to a docking station by afeed hose, notably from WO 07/031701 or DE10335085A1. In this case, abuffer for accommodating a plurality of fasteners is present on thefastening tool. In order to fill the magazine, the fastening tool ismoved to the docking station where it is docked. The docking in thisprocess is done in such a manner that both an outlet gate in the regionof the docking station and an inlet gate of the buffer are openedmechanically by the docking procedure in order to establish a continuousconnection between the feed device and the buffer. The expense thisnecessitates for mechanical actuators or transmissions is considerable.In addition, docking and undocking is a relatively time-consumingprocess.

Against this background, the applicant developed an improved method forfeeding fasteners to a fastening tool that is movable by a programmablehandling device and on which is mounted a magazine for accommodating atleast one fastener. This method is depicted in EP2629905. The methodconsists in moving the magazine to a filling station, wherein thefilling station has an always continuously open tube section with anoutlet opening; orienting the magazine with respect to the outletopening; opening an air seal of the magazine; and conveying at least onefastener to the tube section in such a manner that the fastener travelsthrough the tube section and the outlet opening to reach the magazine,wherein the outlet opening is unblocked before orienting the magazineand after conveying the fastener to the magazine.

However, there is still a need to improve such fastening devices withmagazine for better fastening, filling and maintenance performances.

BRIEF SUMMARY OF THE INVENTION

This object is attained according to a first aspect of the invention bya fastening device according to claim 1. More particularly, the presentinvention is directed to a fastening device comprising: a fastening toolthat is movable by programmable handling device, a magazine arrangementmounted on the fastening tool, the magazine arrangement having amagazine for accommodating at least one fastener, the magazine having aninlet and an outlet, and wherein the magazine comprises a magazine hose;a magazine plate extending at the inlet of the magazine, and a baseplate extending along the magazine and to which the magazine isconnected; a sensor adapted to detect the presence of a fastener in themagazine, characterized in that the magazine plate comprises a platebody and a closure arrangement, the closure arrangement having: aclosure slider adapted to move between an open position, in which theinlet of the magazine is open and a closed position in which the inletis closed, an elastic member elastically maintaining the closure sliderin the closed position, a toggle mechanism adapted to move the closureslider from the closed position to the open position.

The toggle mechanism creates a robust automatic opening and closure whenthe magazine is in the vicinity of a feed device. No further actuator isnecessary, the opening and closure of the magazine is thus passive,which limits the maintenance and risks of failures.

In an embodiment, the toggle mechanism is movable between a firstposition in which the closure slider is closed and a second position inwhich the closure slider is open, and wherein the toggle mechanismcomprises a first arm, a second arm and a pivoting joint between thefirst and the second arms, such that first and second arms arerotationally connected.

In an embodiment, the closure slider comprises a first compressed airchannel which communicates with the magazine hose when the closureslider is in the closed position.

In an embodiment, the magazine is a first magazine, the magazine hose isa first magazine hose, and wherein the magazine arrangement furthercomprises a second magazine for accommodating at least one secondfastener, the second magazine having an inlet and an outlet, and whereinthe second magazine comprises a second magazine hose, the magazine plateextends at the inlet of the second magazine and the base plate extendsalong the second magazine and the second magazine is connected to thebase plate. The presence of two different magazines allows moreflexibility. For instance, the fastening device can store two differenttypes of fastener, the first type being in the first hose and the secondtype being in the second hose. The fastening device can also thus boardan increased number of fasteners without increasing the length of themagazine hoses.

In an embodiment, the closure slider can comprise a second compressedair channel which communicates with the second magazine hose when theclosure slider is in the closed position. Thus, a compressed air flow isintegrated to the closure slider and automatically stopped when theclosure slider is in the open position.

In an embodiment, the sensor is adapted to detect the presence of afastener in the first and/or second magazine, and wherein the sensor isconnected to the base plate, and a spacer is provided between the firstand the second magazine hose, wherein the spacer comprises a demountingarrangement adapted to facilitate the removal and the replacement of thefirst and/or second magazine hose.

In an embodiment, the demounting arrangement comprises an elastic pinadapted to be moved between a locked position and a release position.The mechanical arrangement is easy to implement and particularly robust.A manipulator or a robot or an actuator can easily move the elastic pinfrom the locked position to the release position. The locked positioncorresponds to the rest position of the elastic pin.

In an embodiment, the spacer comprises a spacer body, an anchoring bodyand the elastic pin, wherein the anchoring body is fixed to the baseplate and extends longitudinally orthogonal to the base plate, whereinthe anchoring body comprises a first and a second recess, in which theelastic pin in the locked position can be elastically biased. Themechanical arrangement is easy to implement and particularly robust. Thearrangement of the parts also allows an easy cleaning of the parts.

In an embodiment, the spacer body is slidable with regard to theanchoring body between a working position, in which the first and/orsecond magazine are adapted to receive one or a plurality of fasteners,and a maintenance position, in which the first and/or second magazineare adapted to be removed from the fastening device.

In an embodiment, the magazine arrangement further comprises anisolation module adapted to separate one fastener from a plurality offastener and the outlets are connected to the isolation module. Theisolation module improves the fastening performance with two magazines.

In an additional embodiment, the isolation module comprises a draweradapted to slide between the outlet of the first magazine and/or thesecond magazine and an exit port. The mechanical arrangement is easy toimplement and particularly robust.

The present invention is also directed to a fastening device systemcomprising a fastening device as previously described and a feed device,wherein the magazine arrangement has a centering element cooperatingwith a centering element from the feed device. It is thus possible toensure that the magazine can always be aligned precisely with the feeddevice, and more particularly that an exit port of the feed device canalways be aligned precisely with an inlet port of the magazine.

In an embodiment, the magazine arrangement has a centering recess, thefeed device has a centering pin.

In an embodiment, the magazine arrangement has two centering recesses,the feed device has two centering pins.

In an embodiment, the centering pin extends longitudinally and has anon-constant cross-section. The non-constant section, and moreparticularly the larger portions of the non-constant section allows atight fit of the centering pin, which insure a perfect alignment withreduced tolerances.

In an embodiment, the feed device has a docking surface and a fillingstation, the filling station comprising a feeding tube, and wherein thetoggle mechanism comprises a bearing extending between two arms of thetoggle mechanism and adapted to roll on the docking surface such thatthe pressure of the docking surface on the toggle element allows thetoggle element to move the closure slider from the closed position tothe open position. The bearing allows reducing the friction between feeddevice and magazine when opening the magazine.

In an embodiment, the toggle mechanism comprises a rear bearing arrangedat a free end of the second arm of the toggle mechanism and adapted toroll on the magazine plate. This reduces the friction between themagazine plate and the closure arrangement.

Finally, the present invention is directed to a method for feedingfasteners to a fastening tool with a fastening device system aspreviously mentioned, the method comprising the steps of moving themagazine to a feed device, wherein the feed device has a tube sectionwith an outlet opening; orienting the magazine with respect to theoutlet opening; aligning the magazine and the feed device throughcentering elements; approaching the magazine and the feed device fromeach other such that a docking surface of the feed device pushes thetoggle mechanism from a first position; conveying at least one fastenerto the tube section in such a manner that the fastener travels throughthe tube section and the outlet opening to reach the first and/or secondmagazine.

This is also an object of the present application to disclose afastening device comprising a fastening tool that is movable byprogrammable handling device, a magazine arrangement mounted on thefastening tool, the magazine arrangement having a first magazine foraccommodating at least one first fastener, the first magazine having aninlet and an outlet and wherein the first magazine comprises a firstmagazine hose; a second magazine for accommodating at least one secondfastener, the second magazine having an inlet and an outlet, and whereinthe second magazine comprises a second magazine hose; a magazine plateextending at the inlet of the first and second magazine, and a baseplate extending along the first and second magazine and to which thefirst and second magazine are connected; a sensor adapted to detect thepresence of a fastener in the first and/or second magazine. The sensoris connected to the base plate, and a spacer is provided between thefirst and the second magazine hose, wherein the spacer comprises ademounting arrangement adapted to facilitate the removal and thereplacement of the first and/or second magazine hose.

The applicant found that attaching the sensor to the base plate and notto the magazine directly do not alter the detection of the fastenerwithin the magazine and on the contrary allows a better detection.Besides, the sensor adapted to detect the presence of the fastener inthe magazine being not attached to the magazine anymore, allows an easythe maintenance, and for instance, a magazine hose replacement. Thespacer has a centering function and allows the easy removal of the firstand/or the second hose through the demounting arrangement. Suchfastening device is thus easy to dismount and the magazine hose can beeasily replaced or cleaned without considerable effort. Thus, thecoupling of both the sensor attached to the base plate (and spaced fromthe magazine or magazine hose—or at least not connected to the magazineor magazine hose) and the spacer with the demounting arrangement enablea reduced demounting time, a better maintenance and improve theperformances of the fastening device.

BRIEF DESCRIPTION OF THE DRAWINGS

Other characteristics and advantages of the invention will readilyappear from the following description of embodiments, provided asnon-limitative examples, in reference to the accompanying drawings.

FIG. 1 shows a schematic representation of an embodiment of a fasteningdevice system with a fastening device comprising a magazine attached toa fastening tool and a feed device.

FIG. 2 shows an embodiment of a fastening device with a fastening tooland a magazine attached to the fastening tool.

FIG. 3 shows a perspective of a first and second magazine hoses with afirst and a second sensor attached to the base plate of the fasteningdevice and a spacer.

FIG. 4A and FIG. 4B show detailed views of the spacer with a body in afirst and a second position.

FIG. 5 shows a view of the controlled portion and the active portion ofthe fastening device.

FIG. 6 shows a perspective detailed view of a closure arrangement of thefastening device.

FIG. 7A and FIG. 7B are detailed views of the closure arrangement in anopen and a closed position.

FIG. 8A and FIG. 8B are detailed views of the closure arrangement beforeand after cooperation with the feed device.

FIG. 9 shows a detailed view of the centering elements of the closuredevice and the feed device.

FIG. 10 shows a view of an isolation module of the fastening device.

FIG. 11 shows a detailed view of the isolation device of FIG. 10.

FIG. 12A, FIG. 12B, FIG. 12C are different embodiment of the settingtool with the magazine attached at different positions on the fasteningtool.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

On the different figures, the same reference signs designate identicalor similar elements.

FIG. 1 schematically shows an embodiment of a fastening device system 10for producing joints using fasteners. In the present case, the fasteningdevice system 10 is designed especially for self-piercing riveting.However, the fastening device system 10 may also be designed incorresponding fashion to produce stud joints (stud welding, adhesivestud bonding, etc.), for example.

The fastening device system 10 has a fastening device 12, which isattached to a programmable handling device in the form of a robot 14.More precisely, the robot 14 has, for example, a first arm 16 and asecond arm 18, wherein the fastening device is affixed to the second arm18.

Affixed to the fastening device 12 is a fastening tool 20, notably inthe form of a self-piercing riveting tool. The fastening tool 20includes a C-frame 22. Mounted on an upper end of the C-frame 22 is apunch 24—that can move in a fastening direction (as shown by the doublearrow in FIG. 1)—of the fastening tool 20. Affixed to the other end ofthe C-frame 22 is a die 26.

The fastening tool 20 is designed to produce joints using fasteners 28.The fasteners 28 in the present case are self-piercing rivet elements.

For example, two or more workpieces (in the form of sheets made of thesame or different materials, for example) can be inserted between thepunch 24 and the die 26. Then a joining of these workpieces takes place:a self-piercing rivet element is pressed or punched into the workpiecearrangement by the punch 24. In the case of a tubular self-piercingrivet, a hollow section that was originally essentially cylindricalspreads apart radially in this process so that an undercut occurs withinthe workpiece arrangement. Self-piercing riveting processes of this typeare generally known.

The motion of the punch 24 generally takes place along a fastening axis30.

A magazine arrangement 32 is mounted to the fastening tool 20. In FIG. 1the magazine arrangement 32 is mounted at the front of the C-Frame 22.

FIG. 2 and FIG. 12A to FIG. 12 C show different embodiments of themagazine arrangement mounted to a C-frame. For instance, in FIG. 2, themagazine arrangement is mounted on the back of the C-frame, at theopposite from the die 26 and the punch 24. The magazine arrangementextends along an axis which is sensibly parallel to the back of theC-frame. In FIG. 12A and 12C the magazine arrangement is also mounted atthe back of the C-frame but the magazine arrangement extends along anaxis which forms an angle with the back of the C-frame. In FIG. 12B, themagazine arrangement is mounted at a top of a C-frame.

The magazine arrangement 32 has a first magazine 34 for accommodating atleast one, preferably a plurality of first fasteners 28 a. The firstmagazine 34 comprises an inlet 36 adapted to receive a fastener and anoutlet 38 adapted to release a fastener. Between the inlet 36 and theoutlet 38 extends a first magazine hose 40. The first magazine hose 40extends along a magazine axis X. The magazine arrangement 32additionally has a magazine plate 42 and a base plate 44. The magazineplate 42 extends at the inlet of the first magazine 34. The magazineplate for instance extends orthogonally to the magazine axis X. The baseplate 44 extends along the first magazine 34, and more particularlyalong the first magazine hose 40. The first magazine 34 is mounted onthe base plate 44.

A first sensor 46 is provided to detect the presence of a fastener inthe first magazine 34, and more particularly in the first magazine hose40. The first sensor 46 is connected to the base plate 44 and is at anon-zero distance from the first magazine hose 40. In other words, thesensor is not in contact with the first magazine hose 40 and is notmounted on the first magazine 34. The first sensor 46 is for instance aproximity transducer or a photoelectric sensor or a fork/angled lightbarriers. In a preferred embodiment, an inductive tube sensor is used.

The magazine arrangement 32 may also comprise in an embodiment a secondmagazine 48 for accommodating at least one, preferably a plurality ofsecond fasteners 28 b. The second fastener may be identical or differentfrom the first fasteners 28 a. The second magazine 48 comprises an inlet50 adapted to receive a fastener and an outlet 52 adapted to release afastener. Between the inlet 50 and the outlet 52 extends a secondmagazine hose 54. The second magazine hose 54 may extend sensiblyparallel to the first magazine hose 40. The magazine plate 42 extends atthe inlet 50 of the second magazine 48. The second magazine hose 54extends along the base plate 44. The second magazine hose extends alongthe base plate 44.

A second sensor 56, similar to the first sensor 46 is provided to detectthe presence of a fastener in the second magazine 48, and moreparticularly in the second magazine hose 54. The second sensor 56 isconnected to the base plate 44 and is at a non-zero distance from thesecond magazine hose 54. In other words, the second sensor 56 is not incontact with the second magazine hose 54 and is not mounted on thesecond magazine 48 but is directly mounted to the base plate 44.

For instance, as depicted in FIG. 3, the first sensor 46 and the secondsensor 56 are arranged mounted to the base plate and at the vicinity ofrespectively the first and second magazine hoses 40, 54. Moreparticularly, the first and second sensors do not extend between thefirst and second hoses 40, 54, but extend outwardly from the first andsecond magazine hoses 40, 54. A third and a fourth sensor S may also bearranged such that two different sensors detect a fastener in the firstmagazine hose 40, and two different sensors detect a fastener in thesecond magazine hose 54. The two sensors for the first magazine hose 40may be arranged spaced apart, one sensor being in the vicinity of theinlet 36, wherein the other sensor is in the vicinity of the outlet 38.A similar arrangement can be provided for the second magazine hose 54.

A spacer 58 is provided between the first and second magazine hoses 40,54. The spacer 58 allows to maintain the distance between the first andsecond magazine hoses 40, 54, but also allows an easy demounting of thefirst and/or second magazine or magazine hose. The spacer 58 comprises aspacer body 60 and a demounting arrangement 62.

The spacer body 60 comprises a first hose recess 72 to receive the firstmagazine hose 40, and a second hose recess 74 to receive the secondmagazine hose 54. The first and second hose recesses 72, 74 have forinstance a section corresponding to the hose section. As depicted on thefigures, the section can be square. In other embodiments, a circularsection may be provided.

The demounting arrangement 62 comprises an elastic pin 64 and ananchoring body 66. The elastic pin 64 is elastically slidable within thespacer body 60. The elastic pin 64 is adapted to be moved between alocked position and a release position. The anchoring body 66 is fixedto the base plate 44. The anchoring body 66 comprises a first and asecond recess 68, 70. The elastic pin 64 is adapted to protrude in thefirst or in the second recess 68, 70. The spacer body 60 is slidablewith regard to the anchoring body 66.

In a working position, as shown in FIG. 4A, the anchoring body isinserted in the spacer body, such that the spacer body 60 is in contactwith or at least in the vicinity of the base plate 44. The elastic pin64 extends in the first recess 68 of the anchoring body 66. The firstand second magazine hoses 40, 54 are able to receive, store and deliverfasteners 28 a, 28 b.

In order to move the spacer body 60 and the first and second magazinehoses 40, 54, the elastic pin 64 is pulled against the elastic forcemaintaining it in a locked position, such that the elastic pin 64 movesto a release position, and thus allow the spacer body 60 (with the firstand second magazine hoses 40, 54 in the first and second hose recesses72, 74) to slide with regard to the anchoring body 66. The spacer body60 slides until the elastic pin 64 reaches the second recess 70 andelastically extends in the second recess 70. By doing so, the course ofthe spacer body 60 is stopped. The spacer body 60 is thus in amaintenance position, in which the first and/or second magazine hoses40, 54 may be removed, cleaned, or replaced.

The second recess 70 comprises a side being a ramp adapted to allow theelastic pin 64 to slide up to the portion extending between the firstand the second recesses 68, 70 when a manipulator pushes the spacer bodyback in the working position. The tip of the elastic pin 64 can thenslide along the straight portion between the second and the firstrecesses 68, 70 until it arrives at the first recess 68 and iselastically biased into it.

As previously mentioned, a magazine plate 42 extends at the inlet 50, 36of the first and/or second magazine hose 40, 54. The magazine plate 42is more particularly illustrated in FIG. 6 and comprises a plate body 76and a closure arrangement 78. The closure arrangement 78 extends in anopening of the plate body 76 and has a closure slider 80, an elasticspring 82 and a toggle mechanism 84.

The closure slider 80 is adapted to move between an open position, inwhich the inlet 36, 50 of the first and/or second magazine 34, 48 isopen, and a closed position, in which said inlet is closed. In the openposition of the inlet, fasteners 28 may be transferred to the firstand/or second magazine hose 40, 54. An elastic member (for instance theelastic spring 82) elastically bias the closure slider 80 in the closedposition. Actually, the closure slider 80 forms a sliding door for theinlet 36, 50 of the first and/or second magazine hose 40, 54.

The closure slider 80 may be provided with compressed air channels 88such that in the closed position of the closure slider 80, compressedair may go from a compressed air source through the closure slider 80 upto the magazine hose 40, 54. The compressed air can thus push thefasteners 28 through the hose 40, 54 toward the outlet 38, 52. In otherwords, in the closed position of the closure slider 80, the compressedair channels 88 from the closure slider are aligned or communicate witha channel coming from a compressed air source and the first and/orsecond magazine hose 40, 54. In the open position of the closure slider80, the compressed air channels 88 are not communicating anymore withthe channel coming from a compressed air source and the magazine hose,such that the feeding of the fasteners is not disturbed. The closureslider 80 may also have a seal function, such that in the closedposition, the compressed air from a source is directed to the hose anddoes not go out through the inlet 36, 50.

The compressed air channel 88 can comprise three portions 88 a, 88 b, 88c. The first portion 88 a communicate with a compressed air source. Thefirst portion 88 a can for instance extends along an axis forming anangle with the compressed air channel of the compressed air source. Thethird portion 88 c communicates (in the closed position of the closureslider 80) with the first and/or second magazine hose. The secondportion 88 b extends between the first portion 88 a and the secondportion 88 b and forms an angle with the first portion 88 a and thesecond portion 88 b.

FIG. 7A represents the closure slider in the closed position, whereinFIG. 7B represents the closure slider 80 in the open position. Actually,the closure slider 80 can be arranged with first compressed air channels88 adapted to communicate with the first magazine hose 40 and a secondcompressed air channels 88 adapted to communicate with the secondmagazine hose 54.

The toggle mechanism 84 is adapted to move the closure slider 80 fromthe closed position to the open position. The toggle mechanism 84comprises a first arm 90, a second arm 92 and a pivoting joint 94between the first and the second arms 90, 92. In the closed position ofthe closure slider 80, the first and second arms 90, 92 form an angle atthe pivoting joint 94 and the pivoting joint protrudes 94 from themagazine plate 42. In the open position of the closure slider, the firstand second arms 90, 92 may be aligned and may not protrude from magazineplate 42 or the closure slider 80.

Besides a bearing 96 is provided around the pivoting joint. The bearingis for example a ball bearing or a roll bearing and typically comprisesan inner ring, an outer ring and a plurality of balls (in case of a ballbearing). The inner ring is attached to the pivoting joint 94 and theouter ring is freely movable around the inner ring.

The toggle mechanism 84 and more particularly the outer ring of thebearing 96 is adapted to cooperate with a docking surface 98 of a feeddevice 100. The toggle mechanism 84 comprises further a rear bearingarranged at a free end of the second arm 92 of the toggle mechanism andadapted to roll on the magazine plate 42. This reduces the frictionbetween the closure slider 80 and the magazine plate significantly.

The feed device 100 belongs to the fastening device system 10 andcooperates with the fastening device 12 to provide fasteners 28 to thefirst and/or second magazine 34, 48 when the first and/or secondmagazine 34, 40 is docked to the feed device 100. The feed device 100may include a reservoir 102 for accommodating a plurality of fasteners28. FIG. 1 illustrates schematically one reservoir 102, but tworeservoirs for two different fasteners 28 a, 28 b, may be provided. Thefeed device 100 may also include a singulation device (not represented),in which the fasteners are singulated. Finally, the feed device 100 mayinclude a conveyor device, in particular in the form of a compressed airsystem. By means of the compressed air system, fasteners 28 can beconveyed through a feed hose 104 to a filling station 106 of the feeddevice 100, wherein the fasteners 28 can be transferred to the first orsecond magazine 34, 48. For instance the feed hose 104 may have anoutlet with an always open tube section.

In order to allow a safe transfer of the fasteners 28 from the feeddevice 100 to the first or second magazine 34, 48, the magazinearrangement 32 has a centering element cooperating with a centeringelement from the feed device 100. For instance, as illustrated in FIG.8A, FIG. 8B and FIG. 9, the magazine arrangement 32 has a centeringrecess 108, the feed device has a centering pin 110. More particularly,as depicted in FIG. 6, the magazine arrangement 32 has two centeringrecesses 108, wherein the feed device has two centering pins 110. Thecentering pin 108 extends longitudinally along an alignement axis Xc.The centering pin 108 is generally cylindrical, but its cross-section isnot constant such that two portions P1, P2 of the centering pin 108 havea cross-section which is larger than the rest of the centering pin 108.This allows a better alignment with a tight fit. The distance L1 betweenthe first portion P1 and the second portion P2 is greater than thethickness L2 of the magazine plate. In other words, the distance betweenthe first portion P1 and the second portion P2 is greater than thelength of the centering recess.

In a rest position, the bearing 96 of the toggle mechanism 84 protrudesfrom the magazine plate 42. When approaching from the docking surface98, the docking surface 98 pushes the bearing 96, which rolls on thedocking surface 98 and thus a force is exerted on the pivoting joint 94of the toggle mechanism 84 such that the arms are flattened in thedirection of the magazine plate 42. Thus, the arms 90, 92 are exerting aforce against the elastic member and move the closure slider 80 in theopen position.

At the outlets 38, 52 of the magazines, an isolation module 112 isprovided, as shown in FIG. 10 and FIG. 11. The isolation module 112comprises a drawer 114 with a first and a second recess 116, 118 andadapted to slide such that the first recess 116 may be aligned eitherwith the outlet 38 of the first magazine or with an exit port 120 of themagazine arrangement 32. The drawer 114 can also slide such that thesecond recess 118 may be aligned either with the outlet 52 or with theexit port 120 of the magazine arrangement. The drawer 114 is movedthrough actuators, for instance electrical or pneumatic actuators.

During a normal operation, the fastening device system 10 works asfollow. This is starting from a state in which a plurality of fasteners28 are accommodated in the first and/or second magazine 34, 48. In thisprocess, the robot 14 moves the fastening tool 12 to a fasteningposition where workpieces that are to be joined to one another arelocated between the punch 24 and the die 26. Then a fastener 28 isremoved from the first or second magazine 34, 40 and from the exit port120. This removal can take place manually but can also take place by anautomated transfer device, which is controlled by a control device, forexample.

First the punch 24 is moved, in order to carry out the actual fasteningprocess. Then the punch 24 travels back to its initial position, and thefastening tool 12 is moved to a next fastening position. As soon as onlyfew or no fasteners 28 a, 28 b are present in the first or secondmagazine 34,40, the fastening tool 12 is moved to the feed device, andmore particularly to the filling station. The number of fasteners 28 a,28 b located in the first or second magazine 34, 20 can be monitored bythe sensor already described, which is mounted on the base plate.

As soon as the magazine plate 36 has approached the docking surface 98,the centering elements of the feed device 100 and fastening device 12align such that the feed hose 104 is aligned with the inlet 36, 50 ofthe first or second magazine 34, 48. Then a fastener 28 or a pluralityof fasteners 28 is conveyed, for example by a compressed air system fromthe singulation device or the reservoir 102 to the first or secondmagazine 34, 40 without hindrance, which is to say through the feed hoseand the inlet without hindrance. As soon as the first or the secondmagazine is filled again, the fastening device can move from the feeddevice and by doing so, the toggle mechanism 84 can come back to itsrest position and thus the closure slider can move to its closedposition.

The fastening device system 10 also includes a control device. Thecontrol device is designed to control various individual processes andindividual devices of the fastening device system 10. In addition, thecontrol device also serves to supply power as appropriate. For example,the control device is connected to the sensors 46, 56. In addition, thecontrol device is designed to actuate the isolation module. Furthermore,the control device is preferably also designed to control the robot 14in accordance with a specific program. In addition, the control deviceis also connected to the fastening tool 20 and designed, for example, tooperate the punch 24. In this context, the control device can beconnected to the robot 14 and/or the fastening head 12 by a cablearrangement. In addition, the control device can be connected to thefilling station 46 by a cable arrangement, in particular in the form ofan individual sensor cable.

The magazine arrangement 32 as described above is thus separated in twounits. The first unit 124 comprises all the controllers with valveterminal, port expander, valves, pressure regulators, . . . . The secondunit 126 comprises the first and second magazine hoses, the outlets, theinlets, the isolation module and the corresponding sensors. Suchpartition facilitates the mounting and maintenance operations. The firstunit 124 is not encapsulated in a casing, in order to leave accessiblethe different plug connections, chokes, pressure meters, . . . . Themagazine arrangement 32 is sensibly symmetrically arranged, such that anadaptation to different frames or position is possible.

Although exemplary embodiments of the present invention have been shownand described, it will be appreciated by those skilled in the art thatchanges may be made to these embodiments without departing from theprinciples and spirit of the invention, the scope of which is defined inthe appended claims and their equivalents.

What is claimed is:
 1. A fastening device for transporting a fastener toa workpiece and for joining it, the fastening device comprising: afastening tool operable for joining the fastener to the workpiece; amagazine mounted on the fastening tool and operable for holding thefastener, the magazine including an inlet and an outlet, and; anisolation module located at the outlet of the magazine and including adrawer with a recess and an exit port, and wherein the drawer isoperable to move between a first position, wherein the recess is alignedwith the outlet of the magazine, and a second position, wherein therecess is aligned with the exit port.
 2. A fastening device according toclaim 1, wherein the magazine outlet and the exit port are not alignedand the drawer slides linearly between the first position and the secondposition.
 3. A fastening device according to claim 1, wherein the recessis a through passage defined in the drawer and open at a first end and asecond end.
 4. A fastening device according to claim 1, wherein thedrawer is moved by an actuator.
 5. A fastening device according to claim4, wherein the actuator is at least one of an electrical actuator or apneumatic actuator.
 6. A fastening device according to claim 1, whereinthe magazine is a first magazine, the inlet is a first inlet, and theoutlet is a first outlet; the fastening device further comprises asecond magazine mounted on the fastening tool with a second inlet and asecond outlet; wherein the drawer is further operable to move between athird position, wherein the recess is aligned with the second outlet ofthe second magazine, and the second position, wherein the recess isaligned with the exit port.
 7. A fastening device according to claim 1,wherein the magazine is a first magazine, the inlet is a first inlet,and the outlet is a first outlet; the fastening device further comprisesa second magazine mounted on the fastening tool with a second inlet anda second outlet; the recess of the drawer is a first recess and thedrawer further includes a second recess; and wherein the drawer isfurther operable to move between a third position, wherein the secondrecess is aligned with the second outlet of the second magazine, and afourth position, wherein the second recess is aligned with the exitport.
 8. A fastening device according to claim 1, and further comprisinga closure located at the inlet of the magazine, and the closureincluding: a closure slider adapted to move between an open position, inwhich the inlet of the magazine is open and a closed position in whichthe inlet is closed, an elastic member biasing the closure slider towardthe closed position, and a toggle mechanism operable to move the closureslider from the closed position to the open position.
 9. A fasteningdevice according to claim 8, wherein the toggle mechanism is movablebetween a first toggle position, in which the closure slider is in theclosed position, and a second toggle position, in which the closureslider is in the open position, and wherein the toggle mechanismincludes a first arm, a second arm, and a pivoting joint located betweenthe first arm and the second arm, such that first arm and the second armare pivotably connected.
 10. A fastening device according to claim 9,wherein the toggle mechanism further includes a rear bearing arranged ata free end of the second arm of the toggle mechanism and adapted to rollon a magazine plate.
 11. A fastening device according to claim 8,wherein the closure slider includes a compressed air channel whichcommunicates with the magazine when the closure slider is in the closedposition.
 12. A fastening device according to claim 11, wherein themagazine is a first magazine, and wherein the fastening device furthercomprises a second magazine mounted on the fastening tool foraccommodating a second fastener, the second magazine having a secondinlet and a second outlet.
 13. A fastening device according to claim 12,wherein the closure slider further includes a second compressed airchannel which communicates with the second magazine when the closureslider is in the closed position.
 14. A fastening device according toclaim 12, wherein the first magazine includes a first magazine hose andthe second magazine includes a second magazine hose.
 15. A fasteningdevice according to claim 14, and further comprising a spacer locatedbetween the first magazine hose and the second magazine hose, and thespacer includes a demounting arrangement operable for the removal andthe replacement of the first magazine hose or the second magazine hose.16. A fastening device according to claim 15, wherein the demountingarrangement includes an elastic pin operable to be moved between alocked position and a released position.
 17. A fastening deviceaccording to claim 16, wherein the spacer includes a spacer body, ananchoring body, and wherein the anchoring body is fixed to the baseplate and extends longitudinally orthogonal to the base plate, andwherein the anchoring body includes a first recess and a second recess,and in which the elastic pin is elastically biased toward the lockedposition.
 18. A fastening device according to claim 17, wherein thespacer body is slidable relative to the anchoring body between a workingposition, in which the first magazine or the second magazine areoperable to receive the fastener, and a maintenance position, in whichthe first magazine or the second magazine are removable from thefastening device.
 19. A fastening device according to claim 1 andfurther comprising a feed device, and wherein the magazine includes afirst centering element cooperating with a second centering element ofthe feed device.
 20. A fastening device according to claim 19, whereinthe first centering element includes one of a centering recess or acentering pin, and the second centering element includes the other ofthe centering recess or the centering pin.